U.S. patent number 10,539,963 [Application Number 15/797,688] was granted by the patent office on 2020-01-21 for device for determining a space in which a vehicle can drive, corresponding method, and vehicle.
This patent grant is currently assigned to Conti Temic microelectronic GmbH. The grantee listed for this patent is Conti Temic microelectronic GmbH. Invention is credited to Rolf Adomat, Wolfgang Fey.
United States Patent |
10,539,963 |
Adomat , et al. |
January 21, 2020 |
Device for determining a space in which a vehicle can drive,
corresponding method, and vehicle
Abstract
A device for determining a space in which the vehicle can drive
includes at least one sensing unit for sensing spatial coordinates
of at least one object in a vehicle environment of the vehicle. A
determining unit is configured to determine a space in which the
vehicle can drive on the basis of the spatial coordinates of the at
least one object sensed by the sensing unit and on the basis of
specified dimensions of the vehicle.
Inventors: |
Adomat; Rolf (Eriskirch,
DE), Fey; Wolfgang (Bodolz, DE) |
Applicant: |
Name |
City |
State |
Country |
Type |
Conti Temic microelectronic GmbH |
Nurnberg |
N/A |
DE |
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Assignee: |
Conti Temic microelectronic
GmbH (Nuremberg, DE)
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Family
ID: |
56292409 |
Appl.
No.: |
15/797,688 |
Filed: |
October 30, 2017 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20180046194 A1 |
Feb 15, 2018 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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PCT/DE2016/200206 |
May 3, 2016 |
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Foreign Application Priority Data
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May 8, 2015 [DE] |
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10 2015 208 590 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60R
1/00 (20130101); B60W 30/06 (20130101); G05D
1/0248 (20130101); G05D 1/0214 (20130101); G01B
11/002 (20130101); B62D 15/0285 (20130101); G06T
7/70 (20170101); G08G 1/165 (20130101); G01S
17/931 (20200101); G06T 2207/30241 (20130101); G06T
2200/08 (20130101); B60R 2300/806 (20130101); G06T
2200/24 (20130101); G06T 2207/30252 (20130101); B60R
2300/303 (20130101); G01S 2013/9314 (20130101); B60R
2300/105 (20130101); H04N 5/247 (20130101) |
Current International
Class: |
G05D
1/00 (20060101); G06T 7/70 (20170101); B60R
1/00 (20060101); G05D 1/02 (20060101); G01G
1/16 (20060101); G01S 17/00 (20060101); B60W
30/06 (20060101); G01S 17/93 (20060101); H04N
5/247 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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Mar 2012 |
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102011113916 |
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102012022336 |
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May 2014 |
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DE |
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102013207823 |
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Oct 2014 |
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DE |
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102013209873 |
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Dec 2014 |
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DE |
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2592434 |
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May 2013 |
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EP |
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2009205191 |
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Sep 2009 |
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JP |
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Nov 2012 |
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JP |
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WO2011029693 |
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Mar 2011 |
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WO |
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Other References
International Search Report and Written Opinion dated Apr. 19, 2017
from corresponding International Patent Application No.
PCT/DE2016/200206. cited by applicant .
German Search Report dated Apr. 15, 2016 for corresponding German
Patent Application No. 10 2015 208 590.2. cited by
applicant.
|
Primary Examiner: Beaulieu; Yonel
Claims
What is claimed is:
1. A parking assistance device for determining a space in which a
vehicle can drive, comprising: at least one sensing unit for
sensing spatial coordinates of at least one object in an
environment of the vehicle; and a determining unit configured to
determine the space in which the vehicle can drive on the basis of
the spatial coordinates of the at least one object sensed by the
sensing unit and on the basis of specified dimensions of the
vehicle, wherein the sensing unit is configured to create a
three-dimensional map of at least a part of the environment of the
vehicle; wherein the three-dimensional map comprises positions of
the at least one object and of the drivable space; and wherein the
determining unit calculates on the basis of the space in which the
vehicle can drive at least one target position possibility for the
vehicle, in the event that the at least one target position
possibility can be reached via a travel trajectory of the vehicle,
located in the space in which the vehicle can drive.
2. The device as set forth in claim 1, wherein the sensing unit
comprises optical sensors and/or laser sensors.
3. The device as set forth in claim 1, wherein the sensing unit
comprises a surround view system.
4. The device as set forth in claim 1, further comprising a user
interface and wherein the at least one target position possibility
is displayed to a driver of the vehicle via a user interface.
5. The device as set forth in claim 4, wherein a target position
can be selected by the driver of the vehicle via the user interface
from the at least one target position possibility.
6. The device of as set forth in claim 5, further comprising a
control unit configured to guide the vehicle automatically to the
target position selected, wherein a travel trajectory of the
vehicle is located in the space determined in which the vehicle can
drive.
7. The device as set forth in claim 1, wherein the sensing unit is
configured to select a target position on the basis of specified
criteria from the at least one target position possibility.
8. The device of as set forth in claim 7, further comprising a
control unit configured to guide the vehicle automatically to the
target position selected, wherein a travel trajectory of the
vehicle is located in the space determined in which the vehicle can
drive.
9. A parking assistance method for determining a space in which a
vehicle can drive, comprising: sensing spatial coordinates of at
least one object in an environment of the vehicle; and determining
the space in which the vehicle can drive on the basis of the sensed
spatial coordinates of the at least one object and on the basis of
specified dimensions of the vehicle; creating a three-dimensional
map of at least a part of the environment of the vehicle, the
three-dimensional map comprising positions of the at least one
object and of the drivable space; and calculating, on the basis of
the space in which the vehicle can drive, at least one target
position possibility for the vehicle, in the event that the at
least one target position possibility can be reached via a travel
trajectory of the vehicle, located in the space in which the
vehicle can drive.
10. The method as set forth in claim 9, further comprising
displaying to a driver of the vehicle via a user interface at least
one target position possibility for the vehicle which can be
reached via a travel trajectory of the vehicle, located in the
space in which the vehicle can drive.
11. The method as set forth in claim 10 further comprising:
receiving a target position from the at least one target position
possibility selected by the driver; and automatically guiding the
vehicle to the target position selected.
12. A vehicle comprising: a parking assistance device for
determining a space in which the vehicle can drive, including: at
least one sensing unit for sensing spatial coordinates of at least
one object in an environment of the vehicle; and a determining unit
configured to determine the space in which the vehicle can drive on
the basis of the spatial coordinates of the at least one object
sensed by the sensing unit and on the basis of specified dimensions
of the vehicle, wherein the sensing unit is configured to create a
three-dimensional map of at least a part of the environment of the
vehicle; wherein the three-dimensional map comprises positions of
the at least one object and of the drivable space; and wherein the
determining unit calculates on the basis of the space in which the
vehicle can drive at least one target position possibility for the
vehicle, in the event that the at least one target position
possibility can be reached via a travel trajectory of the vehicle,
located in the space in which the vehicle can drive.
Description
CROSS REFERENCE TO RELATED APPLICATION
This application claims the benefit of International application
No. PCT/DE2016/200206, filed May 3, 2016, which claims priority to
German patent application No. 10 2015 208 590.2, filed May 5, 2015,
each of which is hereby incorporated by reference.
TECHNICAL FIELD
The technical field relates to a device and method for determining
a space in which a vehicle can drive.
BACKGROUND
Modern vehicles are often fitted with a parking assistance system
as an aid to the driver during parking. From German patent
application No. 10 2011 113 916, a parking assistance system is
known which classifies a number of parking scenarios.
Parking assistance systems usually monitor just an area around the
vehicle in the vicinity of the highway. It is particularly the case
that objects located at a higher level, such as a roof box in a
garage, are not detected properly.
As such, it is desirable to present a device and method which
reliably and accurately determine a space in which a vehicle can
drive. In addition, other desirable features and characteristics
will become apparent from the subsequent summary and detailed
description, and the appended claims, taken in conjunction with the
accompanying drawings and this background.
BRIEF SUMMARY
According to one exemplary embodiment, a device for determining a
space in which a vehicle can drive comprises at least one sensing
unit for sensing spatial coordinates of at least one object in a
vehicle environment of the vehicle. The device also includes a
determining unit configured to determine a space in which the
vehicle can drive on the basis of the spatial coordinates of the at
least one object sensed by the sensing unit and on the basis of
specified dimensions of the vehicle.
In one exemplary embodiment, a method for determining a space in
which a vehicle can drive includes sensing spatial coordinates of
at least one object in a vehicle environment of the vehicle. The
method also includes determining a space in which the vehicle can
drive on the basis of the sensed spatial coordinates of the at
least one object and on the basis of specified dimensions of the
vehicle.
A vehicle having a device for determining an area in which the
vehicle can drive is also described herein. This makes it possible
to reliably and accurately determine a space, available to the
vehicle, in which the vehicle can drive.
According to a further embodiment of the device, the sensing unit
has optical sensors. By utilizing the optical sensors, objects in a
vehicle environment of the vehicle can be detected and their
spatial coordinates determined.
According to a further development of the device, the sensing unit
includes a surround view system. Through the use of the surround
view system, by way of example a plurality of cameras configured
around the vehicle, an entire area of the vehicle environment of
the vehicle can be sensed and measured.
According to a further development of the device, the sensing unit
is configured to create a three-dimensional map of at least a part
of the vehicle environment of the vehicle, wherein the
three-dimensional map includes positions of the at least one object
and of the drivable space. This allows both objects close to the
ground in the vehicle environment of the vehicle, and objects
located at a higher level, such as a roof box in a garage or
overhanging objects on other vehicles, to be reliably detected.
Using the three-dimensional map, the vehicle can be reliably
controlled either by the actual driver or automatically by a
suitable control device.
According to a further development of the device, the determining
unit calculates on the basis of the space in which the vehicle can
drive at least one target position possibility for the vehicle, in
the event that the at least one target position possibility can be
reached via a travel trajectory of the vehicle, located in the
space in which the vehicle can drive. This allows the device to be
used particularly in a parking assistance system.
According to a further development of the device, the at least one
target position possibility is displayed to a driver of the vehicle
via a user interface. The driver can, by way of example, select one
of the target position possibilities and bring the vehicle manually
to the target position.
According to a further development of the device, a target position
can be selected by the driver of the vehicle via the user interface
from the at least one target position possibility. A travel
trajectory can, by way of example, be displayed to the driver, in
order to reach the target position selected.
According to a further development of the device the sensing unit
is configured to select a target position on the basis of specified
criteria from the at least one target position possibility. By way
of example, a preferred carrier position can be selected from
various parking scenarios by means of an algorithm. This has the
advantage that an optimum parking position can be automatically
selected.
According to a further development of the device, the device
includes a control unit configured to guide the vehicle
automatically to the target position selected, wherein a travel
trajectory of the vehicle is located in the determined space in
which the vehicle can drive. On the basis of the accurately sensed
coordinates of the space in which the vehicle can drive, the
vehicle can be safely guided without danger to the vehicle or other
high-way users to a target position.
According to a further development, the method includes the display
to a driver of the vehicle via a user interface of at least one
target position possibility for the vehicle, which can be reached
via a travel trajectory of the vehicle, located in the space in
which the vehicle can drive.
According to a further development, the method includes the
selection of a target position from the at least one target
position possibility by the driver and the automatic guiding of the
vehicle to the target position selected.
BRIEF DESCRIPTION OF THE DRAWINGS
Other advantages of the disclosed subject matter will be readily
appreciated, as the same becomes better understood by reference to
the following detailed description when considered in connection
with the accompanying drawings wherein:
FIGS. 1 to 4 are block diagrams illustrating exemplary embodiments
of the device;
FIG. 5 is a cross-sectional view of an exemplary scenario to
illustrate the device according to one exemplary embodiment;
FIG. 6 is a top view of an exemplary scenario to illustrate the
device; and
FIGS. 7-9 are flow charts to illustrate a method for determining a
space in which a vehicle can drive according to various exemplary
embodiments.
DETAILED DESCRIPTION
FIG. 1 shows a device 100 for a vehicle for determining a space in
which the vehicle can drive according to one exemplary embodiment.
The vehicle in question can be an automobile, a truck, a
motorcycle, or an agricultural tractor. The device 100 includes a
sensing unit 101 configured for sensing spatial coordinates of at
least one object in a vehicle environment of the vehicle. The
sensing unit 101 can, by way of example, include optical sensors
(cameras or laser sensors), radar sensors, or ultrasound sensors.
The sensing unit 101 preferably includes at least one camera.
The sensing unit 101 may include a surround view system with more
than one camera, making it possible to sense a three-dimensional
vehicle environment of the vehicle. In particular, it is possible
to sense objects in a vehicle environment of the vehicle at least
up to a height above the highway surface, corresponding to the
height of the vehicle above the highway surface.
The device 100 also includes a determining unit 102. The
determining unit 102 is configured to receive the spatial
coordinates of the at least one object in the vehicle environment
of the vehicle that have been sensed by the sensing unit 101. The
determining unit 102 also includes a memory, in which the received
spatial coordinates of the at least one object are stored. In
particular, when the vehicle itself moves, successive
three-dimensional maps of the vehicle environment can be created,
in which the space taken up by objects is identified. The
determining unit 102 is configured, on the basis of the spatial
coordinates of the at least one object sensed by the sensing unit
101 and the three-dimensional map, together with dimensions of the
vehicle stored in the memory, to determine a space in which the
vehicle can drive.
To this end, by way of example, in the three-dimensional map, in
which the position of the vehicle is stored, those areas in which
the sensing unit 101 has sensed an object can be marked as
occupied. The space in which the vehicle can drive is then the area
of the three-dimensional map which is not occupied and in which it
is possible to arrange the vehicle in at least one position such
that using the stored dimensions of the vehicle the space taken up
by the vehicle does not overlap with an occupied space. Here, the
space in which the vehicle can drive is determined such that the
space can be reached by the vehicle by guiding the vehicle, without
the vehicle touching or passing through the occupied space. In
particular, the memory may also comprise data on navigation
characteristics of the vehicle, by way of example a turning radius
of the vehicle.
According to a further embodiment, the determining unit 102 may
calculate at least one target position possibility for the vehicle,
that is, a possibility of arranging the vehicle in the drivable
space, wherein a travel trajectory, in order to reach the target
position possibility, is located fully within the drivable
space.
According to a further embodiment, the drivable space is determined
in such a way that a safety distance is maintained. By way of
example, a safety distance of 10 cm, 20 cm, or 50 cm from a space
marked as occupied, thus a space in which the sensing unit 101 has
sensed an object, can be maintained, so that this space is also
marked as occupied and the drivable space is reduced
accordingly.
FIG. 2 shows a further embodiment. Here, the device 100 also has a
user interface 103. The device 100 is configured to display the at
least one calculated target position possibility via the user
interface 103 to a driver of the vehicle.
According to a further embodiment, the driver of the vehicle via
the user interface 103 can select a target position from the at
least one target position possibility.
FIG. 3 shows a further embodiment, which is a further development
of the embodiment shown in FIG. 1, wherein the device 100 also has
a control unit 104. The determining unit 102 is configured to
select a target position from the at least one target position
possibility. The determining unit 102 can select the target
position by way of example on the basis of specified criteria with
the help of an algorithm. By way of example, the target position
possibility can be selected from the at least one target position
possibility, and determined as the target position, which can be
reached via the shortest possible travel trajectory of the vehicle.
The control unit 104 is configured to guide the vehicle
automatically to the target position selected, wherein a travel
trajectory of the vehicle is located in the space in which the
vehicle can drive that has been determined. Here, the guiding along
the travel trajectory can, in particular, also comprise multiple
maneuvers such as driving backwards and forwards.
FIG. 4 shows a further embodiment which is a further development of
the embodiment shown in FIG. 2. The device 100 has both a user
interface 103 and a control unit 104. The device 100 is configured
such that the driver of the vehicle via the user interface 103 can
select a target position from the at least one target position
possibility, which is displayed to the driver via the user
interface 103. The control unit 104 is configured to guide the
vehicle automatically to the target position selected, wherein a
travel trajectory of the vehicle is located in the space in which
the vehicle can drive that has been determined.
FIG. 5 shows a cross-sectional view of an exemplary scenario to
illustrate application of the device 100 (not shown in FIG. 5). A
vehicle 301 is located on a highway surface 302. In the forward
direction of travel of the vehicle 301 there is a garage 307,
wherein a height H2 of a garage roof 307b of the garage 307 above
the highway surface 302 is greater than the maximum height H1 of
the vehicle 301 above the highway surface 302. On the garage roof
307b a box 306 is arranged. Here, an underside of the box 306 is at
a height H3 above the highway surface 302. Here, the height H3 of
box is smaller than the maximum height H1 of the vehicle 301.
The vehicle 301 has a first sensor 303, configured on a windshield
of the vehicle 301, and able to sense a tapered first area 303a in
front of the vehicle. The vehicle 301 also has a second sensor 304,
configured on a front cover of the vehicle, and able to sense a
tapered second area 304a. Here, the first sensor 303 and the second
sensor 304 can in particular comprise optical sensors, for instance
a camera for detecting an environment of the vehicle 301.
With the help of the first sensor 303 and the second sensor 304, it
is possible to sense objects in a vehicle environment of the
vehicle 301, that is, the box 306 and the garage 307. The invention
is not restricted to this and in particular the vehicle can have a
plurality of sensors configured on the vehicle. Through the various
perspectives of the sensors it is possible to create a
three-dimensional map of at least a part of the vehicle environment
of the vehicle 301. The first sensor 303 and the second sensor are
thus configured to sense three-dimensional coordinates of objects
in the vehicle environment of the vehicle 301, for instance of the
box 306 and of the garage 307.
The vehicle 301 also has a determining unit 102 (not shown in FIG.
5), which on the basis of coordinates of the box 306 and the garage
307 sensed by the first sensor 303 and the second sensor 304 and
the dimensions of the vehicle 301 determines a space in which the
vehicle 301 can drive. In the scenario shown in FIG. 5, the
determining unit 102 determines that a space up to a permissible
distance D1 from a front of the vehicle 301 is drivable. In this
permissible distance D1 from the front of the vehicle 301 there is
an end point 305, which is the point up to which the front of the
vehicle 301 can be guided, without the vehicle 301 touching the box
306. This means that if a front of the vehicle 301 is moved beyond
the end point 305 towards a wall 307a of the garage 307, the
vehicle 301 will collide with the box 306. A space in which the
vehicle can drive is therefore the space in which the front of the
vehicle 301 is at least a minimum distance D2 from the wall 307a of
the garage 307, wherein the minimum distance D2 is the distance of
the end point 305 from the garage wall 307a.
According to a further embodiment, the determining unit calculates
the drivable area in such a way that in addition a safety distance
is maintained from the sensed object, for instance the box 306, or
the garage 307, for instance of 10 cm, 20 cm or 50 cm.
FIG. 6 shows a top view of the exemplary scenario to illustrate the
device of the invention 100. Here, an occupied area 401 is the area
in which the vehicle 301 cannot be guided, without colliding with
an object, for instance the box 306 or garage 307. Here, FIG. 5
corresponds to a cross-section along the axis I-I.
A space 404 in which the vehicle 301 can drive is the space which
is not occupied, that is, the complement to the space 401.
Furthermore, a first target position possibility 402a and a second
target position possibility 402b are shown, which the vehicle can
reach via travel trajectories, located in the space 404 in which
the vehicle 301 can drive. In particular, the first target position
possibility 402a can be reached via the first travel trajectory
403. The first target position possibility 402a and the second
target position possibility 402b can, as described in the
embodiments above, be displayed to a driver of the vehicle 103 via
a user interface 103 (not shown in FIG. 6).
According to a further embodiment, the driver of the vehicle 301,
via the user interface 103, can select a target position 402a from
the first target position possibility 402a and the second target
position possibility 402b, which here, by way of example, may be
the same as the first target position possibility 402a.
According to a further embodiment, the trajectory 403 for reaching
the selected target position 402a can be displayed to the driver
via the user interface 103, whereupon the driver can independently
guide the vehicle 301 to the target position 402a. According to a
further embodiment, the device 100 comprises a control unit 104,
which automatically guides the vehicle 301 along the travel
trajectory 403 to the selected target position 402a.
FIG. 7 shows a flow chart to illustrate a method for determining a
space 404 in which a vehicle 301 can drive. The method comprises a
first step S1 of sensing spatial coordinates of at least one object
in a vehicle environment of the vehicle 301. Here the sensing of
spatial of coordinates can, by way of example, take place by means
of optical sensors, radar sensors or ultrasound sensors. The
sensing of spatial coordinates of the at least one object 306
preferably takes place by means of at least two cameras of a
surround view system. By comparing the coordinates of the at least
one object sensed by the at least two cameras precise
three-dimensional spatial coordinates of the at least one object
can be calculated.
The method comprises a second step S2 of determining a space 404 in
which the vehicle 301 can drive on the basis of the sensed spatial
coordinates of the at least one object 306 and on the basis of
specified dimensions of the vehicle 301. Here, a space 404 in which
the vehicle 301 can drive, is a space into which the vehicle 301
can be brought without touching one of the at least one sensed
objects. According to a further embodiment, a safety distance can
also be factored in. In addition, a handling characteristic of the
vehicle 301, for instance a turning circle of the vehicle 301, can
be factored in.
To this end, by way of example, in a three-dimensional map, the
area in which the at least one object is located can be marked as
occupied. On the basis of the stored dimensions of the vehicle 301
the space 404 in which the vehicle 301 can drive can then be
determined.
FIG. 8 shows a further embodiment of the present invention. In
addition to the method shown in FIG. 4, in a further step S3 a
signal is issued to a driver of the vehicle 301. The signal can, by
way of example, be issued via a user interface 103. In doing so,
target position possibilities are displayed to the driver of the
vehicle, that is, positions to which the vehicle 301 via travel
trajectories, which are located within the space 404 in which the
vehicle 301 can drive, can be brought.
According to a further embodiment, as shown in FIG. 9, in a fourth
step S4 at least one of the target position possibilities 402a,
402b for the vehicle 301, which can be reached via a travel
trajectory of the vehicle 301, which is located in the space 404 in
which the vehicle 301 can drive, is displayed to a driver of the
vehicle 301 via a user interface 103.
In a fifth step S5, the vehicle is automatically guided to the
target position selected, wherein a travel trajectory of the
vehicle 301 is located fully in the space 404 in which the vehicle
301 can drive. By way of example, the guiding of the vehicle 301 is
performed by a control unit 104.
The present invention is not restricted to this, in particular a
target position can be automatically selected from the at least one
target position possibility on the basis of specified criteria with
the help of an algorithm, and according to a further embodiment the
vehicle can be automatically guided to the target position
selected.
The method can in particular also be used to accurately control a
loading dock with a truck. To this end the loading dock is detected
by the sensing unit 102 as an object. The truck is automatically
guided in the area frequented by the trucks to the loading dock,
until the truck is close enough to the loading dock. In particular,
it is possible to prevent contact with the loading dock, wherein it
can at the same time be ensured that the truck is located close
enough to the loading dock.
The method may also be used for identifying signs indicating a
height limit and arranged at the corresponding height. The sign is
detected by the sensing unit 102 as an object. If a sign height is
lower than the maximum height H1 of the vehicle, it is detected
that the area below the sign is not drivable.
Furthermore, the method may be used for identifying overhanging
objects on vehicles traveling in front.
The method may also be used to identify if a tunnel is high enough
for a vehicle. The tunnel is detected as an object. If a height of
the tunnel is less than the maximum height H1 of the vehicle, it is
detected that the tunnel is not an area in which the vehicle can
drive.
By way of example a plane on the highway surface and/or above the
highway surface is used, in respect of which then, in particular as
a function of the spatial coordinates of objects sensed by the
sensing unit, a three-dimensional map of objects and the drivable
space is created. In one arrangement, the plane concerned is a
two-dimensional plane, stretching at a particular height over or
above the vehicle surface, in particular horizontally. Here, the
height can be set as a function of the height of the vehicle. By
way of example, the height of the plane can correspond to the
height of the vehicle or the plane can be arranged or spanned at a
particular distance (height X) to the height of the vehicle, that
is, (height of the vehicle)+(height X). Subsequently, in relation
to this plane, in particular if this is located above the vehicle,
what is referred to as an "occupancy map" can be created vertically
in the direction of the highway surface, on the basis of the
spatial coordinates of objects sensed by the sensing unit.
Accordingly, alternatively or additionally to the normal "occupancy
maps" or "occupancy grids" related to the high-way surface of the
vehicle environment, an "occupancy map" related to a particular
plane above the vehicle can be created. As a function of this
alternative or additional "occupancy map", a trajectory can thus be
determined not only in relation to the drivability of the space
around the vehicle, that is, in relation to the highway surface,
but rather alternatively or additionally also in relation to a
trajectory plan in relation to the drivability of the space
surrounding the vehicle, in particular in relation to objects which
are not located on the highway surface, but are arranged at a
certain height, by way of example suspended traffic signs or
objects suspended from a garage or parking facility roof.
The present invention has been described herein in an illustrative
manner, and it is to be understood that the terminology which has
been used is intended to be in the nature of words of description
rather than of limitation. Obviously, many modifications and
variations of the invention are possible in light of the above
teachings. The invention may be practiced otherwise than as
specifically described within the scope of the appended claims.
* * * * *